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Abstract

In this paper we show how the decentralized
estimation of the spectrum of a network can be used to infer
its controllability and observability properties. The proposed
approach is applied to networked multi-agent systems whose
local interaction rule is based on Laplacian feedback. We
provide a decentralized necessary and sufficient condition
for observability and controllability based on the estimated
eigenvalues. Furthermore we show an example of application
of the proposed method and show that the estimated spectrum
can also be envisioned as a tool for decentralized formation
identification.